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题名: An Elasticity Inspired method for multi-AUVs formation control using range-only measurements
作者: Xu HL(徐红丽) ; Li GN(李冠男)
作者部门: 海洋信息技术装备中心
会议名称: OCEANS 2014 MTS/IEEE Taipe
会议日期: April 7-10, 2014
会议地点: Taipei, Taiwan
会议录: OCEANS 2014 MTS/IEEE
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2014
页码: 1-4
收录类别: EI
ISBN号: 978-1-4799-3646-5
关键词: formation control ; multi-AUVs system ; range-only measurements ; elasticity inspired method
摘要: Multi-AUVs formation control has received a lot of theoretical research achievements during the past ten years. Recent researches pay more attention to the application-oriented problems such as communication constraints, range-only measurements, actural mission restrictions and so on. Particularly the range-only measurements is a general problem for AUV because it is more difficult to measure relative orientation or to deliver location information in real time than to measure relative distance through acoustic sensor. In response to this problem, this paper discusses three AUVs formation in which each AUV can only measure the relative distances of the other AUVs and presents a novel method named by Elasticity Inspired (ELASI )Method. The performance of the proposed formation controller is verified by numerical simulations.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15356
Appears in Collections:海洋信息技术装备中心_会议论文

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